4 layers46.4 × 99.8 mm
Trimix Analyzer
magnus188/aegir
Open-source ESP32-P4 trimix analyzer prototype for technical diving,
171 parts14
4 layers110 × 90 mm
Universal Robot Controller
- Size
- 110 × 90 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 180
- Nets
- 168
- Pads
- 773
- Tracks, vias
- 1,084, 349
- Pours
- 243
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 25 May 2026
- Updated
- 23 Aug 2026
Overview
URC is an open-source printed circuit board by spikonado, from the spikonado/URC repository on GitHub, published under the CERN-OHL-W-2.0 licence. It is a 4-layer board of 110 × 90 mm with 180 parts on 168 nets, routed with 1,084 tracks and 349 vias.
It is built around the STM32G431KBU6, ESP32-S3-WROOM-1-N16R8 and MCP2562-E/SN, with the SN74LVC1G125DBVR-TP, SN74LVC1G126DBVR-TP and CP2102N-A02-GQFN24 among its other parts. Its parts include 65 capacitors, 31 resistors, 18 connectors, 15 ICs and 14 diodes. It belongs with the robots and motor control boards and the ESP32 and STM32 boards of this library.
Main components
12
STM32G431KBU6
UFQFPN-32(5x5)-40℃~+85℃ 1.71V~3.6V 128KB 12bit 12bit 170MHz 26 32 Bit 32KB ARM Cortex-M4F Built-in FLASH UFQFPN-32(5x5) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
ESP32-S3-WROOM-1-N16R8
SMD,25.5x18mm-103.5dBm -40℃~+65℃ 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA ESP32-S3R8 On-board PCB Antenna UART、SPI、I2C、GPIO、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
MCP2562-E/SN
SOIC-8-40℃~+125℃ 1 1Mbps 1uA 4.5V~5.5V 70mA CAN Transceiver SOIC-8 CAN Transceivers ROHSMicrochip TechnologyCAN Transceivers
SN74LVC1G125DBVR-TP
SOT-23-5-40℃~+125℃ 1 1.65V~5.5V 2.6ns@5.0V,50pF 24mA 24mA 2uA 74LVC Tri-State Unidirectional SOT-23-5 Buffers, Drivers, Receivers, Transceivers ROHSTECH PUBLICBuffers, Drivers, Receivers, TransceiversSN74LVC1G126DBVR-TP
SOT-23-5-40℃~+125℃ 1 1 1.65V~5.5V 10uA 32mA 32mA 74LVC 9ns@5V,50pF Power-off isolation、Output enable Tri-State Unidirectional SOT-23-5 Buffers, Drivers, Receivers, Transceivers ROHSTECH PUBLICBuffers, Drivers, Receivers, Transceivers
CP2102N-A02-GQFN24
QFN-24-EP(4x4)-40℃~+85℃@(Ta) 1.3uA 13.7mA 3V~3.6V USB 2.0 USB to UART QFN-24-EP(4x4) USB Converters ROHSSilicon LabsUSB Converters
USBLC6-2P6
SOT-666-6-40℃~+125℃ 150nA 17V 2 3.5pF 5.25V 5A@8/20us 6V ESD IEC 61000-4-2 Unidirectional SOT-666-6 ESD and Surge Protection (TVS/ESD) ROHSSTMicroelectronicsESD And Surge Protection (TVS/ESD)
LD39200PU33R
DFN-6(3x3)-40℃~+125℃@(Tj) 1 100uA 130mV@(2A) 2A 3.3V 40uVrms 6V 70dB@(1kHz) Fixed Positive Short Circuit Protection、Thermal shutdown、Enable control、Operating status indication、Reverse-polarity current protection DFN-6(3x3) Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSSTMicroelectronicsUncategorised
RC0402JR-0710KL
UncategorisedUnknown maker
SS14
SMA(DO-214AC)-55℃~+150℃ 1A 25A 300uA@40V 40V 550mV@1A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
GRT188R61C106KE13D
060310uF 16V X5R ±10% 0603 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSMurataMultilayer Ceramic Capacitors MLCC - SMD/SMT
TB007-508-06BE
插件,P=5.08mmScrew Terminal BlocksCUI
README
README.mdUniversal Robot Controller (URC)
Graphics
Features
This is what the board can do:
- Can precisely control up to 4 Brushed DC Motors with or without quadrature encoders.
- Can precisely control Serial Bus Servos from Feetech, Waveshare, etc.
- Communicate with and control a variety of 2D LiDARs.
- Communicate with and control other robotics hardware through CAN FD.
- Supports voltages up to 36V.
- Incredible support for ROS 2.
The board has two microcontrollers:
- An ESP32-S3 module, specifically the ESP32-S3-WROOM-1-N16R8, which comes with 16 MB flash and 8 MB PSRAM.
- An STM32G431KBU6 being used specifically for motor control.
Why?
There are no robot control boards out there that allow one to make a fully functional robot with just the board and a power source as the electronics.
Before this board existed, to make a robot that has 4 motors, 2 robot arms, and a LiDAR, one would need to buy the following:
- A development board of a microcontroller like an ESP32.
- A board that can connect to and control 4 DC Motors with quadrature encoders.
- A board that can control Serial Bus Servos.
- An SBC like a Raspberry Pi for the LiDAR.
And even after all of this, it would still be a headache to get all of that working together and using ROS 2 with it.
Using the Board
- Connect a USB-C cable to one of the board's USB-C ports.
- If using the USB-CDC port, make sure to enable USB-CDC in Arduino IDE before trying to upload the firmware.
- Flash one of the firmware examples.
- Connect the board to the peripherals you are using according to the wiring guide in the firmware examples.
Zine
BOM
| Reference | Qty | Value / Part | Footprint | Manufacturer | MPN | Unit Price ($) | Total Price ($) |
|---|---|---|---|---|---|---|---|
| C1,C3,C5,C6,C14,C15,C17,C18,C38 | 9 | 10µF, 16V | C_0603_1608Metric | Murata Electronics | GRT188R61C106KE13D | 0.447 | 4.023 |
| C2,C4,C7,C8,C9,C13,C16,C19,C20,C29,C32,C33,C37,C63,C64,C65 | 16 | 100nF, 16V | C_0402_1005Metric | Samsung Electro-Mechanics | CL05B104KO5NNNC | 0.025 | 0.400 |
| C10,C11 | 2 | 4.7µF, 50V | C_0805_2012Metric | Murata Electronics | GRT21BR61H475KE13L | 0.940 | 1.880 |
| C12,C23,C26,C36,C41,C47,C53,C59 | 8 | 100nF, 50V | C_0402_1005Metric | Murata Electronics | GRM155R61H104KE14D | 0.120 | 0.960 |
| C21,C22,C24,C25,C34,C35,C42,C43,C45,C46,C51,C52,C57,C58 | 14 | 10µF, 50V | C_0805_2012Metric | Murata Electronics | GRM21BR61H106KE43L | 0.608 | 8.512 |
| C27 | 1 | 470pF, 50V | C_0402_1005Metric | YAGEO | CC0402KRX7R9BB471 | 0.304 | 0.304 |
| C28 | 1 | 100µF | CP_Elec_8x6.9 | KEMET | A768KE107M1VLAS036 | 2.375 | 2.375 |
| C30,C31 | 2 | 10pF, 1% | C_0402_1005Metric | Murata Electronics | GRT1555C1H100FA02D | 0.245 | 0.490 |
| C39,C48,C54,C60 | 4 | 22nF, 50V | C_0402_1005Metric | Murata Electronics | GRM155R71H223JA12D | 0.235 | 0.940 |
| C40,C49,C55,C61 | 4 | 220nF, 16V | C_0603_1608Metric | Samsung Electro-Mechanics | CL10B224KO8NNNC | 0.251 | 1.004 |
| C44,C50,C56,C62 | 4 | 470nF, 10V | C_0402_1005Metric | Murata Electronics | GRM155R71A474KE01D | 0.319 | 1.276 |
| D1,D2,D3,D5,D7,D8,D9,D10,D11,D12,D13,D14,D16 | 13 | SS14 | D_SMA | onsemi | SS14 | 0.189 | 2.457 |
| D6 | 1 | D_TVS_Dual_AAC | SOT-23-3 | onsemi | NUP2105LT1G | 0.403 | 0.403 |
| J1,J2 | 2 | USB-C Receptacle USB2.0 16P | USB4105-xx-A 16P | GCT | USB4105-GF-A | 1.251 | 2.502 |
| J3,J6 | 2 | XT60-M | XT60 Vertical | Changzhou Amass Elec | XT60-M | 0.906 | 1.812 |
| J7 | 1 | 5267-03A | Molex SPOX 3-pin | Molex | 22-03-5035 | 0.564 | 0.564 |
| J8 | 1 | Screw Terminal 1x05 | TB007-508-05 | Same Sky | TB007-508-05BE | 2.330 | 2.330 |
| J10,J11,J12,J13 | 4 | Screw Terminal 1x06 | TB007-508-06 | Same Sky | TB007-508-06BE | 2.736 | 10.944 |
| J15 | 1 | JST SH 4-pin | SM04B-SRSS-TB | JST | SM04B-SRSS-TB | 2.013 | 2.013 |
| L1 | 1 | 3.3µH | SRR1210A | Bourns | SRR1210-3R3Y | 2.278 | 2.278 |
| Q1,Q2 | 2 | MMBT3904 | SOT-23 | onsemi | MMBT3904LT1G | 0.509 | 1.018 |
| Q3 | 1 | MMBT3906 | SOT-23 | onsemi | MMBT3906LT1G | 1.198 | 1.198 |
| R1,R2,R3,R4 | 4 | 5.1kΩ, 0.1% | R_0402_1005Metric | Panasonic | ERA-2AEB512X | 0.473 | 1.892 |
| R5 | 1 | 1kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402JR-071KL | 0.132 | 0.132 |
| R6 | 1 | 22.1kΩ, 1% | R_0402_1005Metric | Panasonic | ERJ-2RKF2212X | 0.485 | 0.485 |
| R7 | 1 | 47.5kΩ, 1% | R_0402_1005Metric | YAGEO | RC0402FR-0747K5L | 0.123 | 0.123 |
| R8,R11,R12,R15,R17,R19,R20,R23,R24,R26,R27,R29,R30,R31 | 14 | 10kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402JR-0710KL | 0.015 | 0.210 |
| R9 | 1 | 100kΩ, 0.1% | R_0402_1005Metric | YAGEO | RT0402BRE07100KL | 1.542 | 1.542 |
| R10 | 1 | 19.1kΩ, 0.1% | R_0402_1005Metric | YAGEO | RT0402BRD0719K1L | 1.475 | 1.475 |
| R13 | 1 | 20kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402JR-0720KL | 0.108 | 0.108 |
| R14,R16 | 2 | 100Ω, 5% | R_0402_1005Metric | Panasonic | ERJ-PA2J101X | 1.455 | 2.910 |
| R18 | 1 | 120Ω, 5% | R_0805_2012Metric | Panasonic | ERJ-UP6F1200V | 0.220 | 0.220 |
| R21,R22,R25,R28 | 4 | 330kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402FR-07330KL | 0.032 | 0.128 |
| SW1,SW2 | 2 | Push Button | KMR2 | C&K | KMR223G LFG | 1.811 | 3.622 |
| U1,U2 | 2 | USBLC6-2P6 | SOT-666 | STMicroelectronics | USBLC6-2P6 | 0.720 | 1.440 |
| U3 | 1 | CP2102N USB-UART | QFN-24 | Silicon Labs | CP2102N-A02-GQFN24 | 4.025 | 4.025 |
| U4 | 1 | ESP32-S3-WROOM-1-N16R8 | ESP32-S3-WROOM-1 | Espressif Systems | ESP32-S3-WROOM-1-N16R8 | 4.830 | 4.830 |
| U5 | 1 | LMR51635YDDCR | TSOT-23-6 | Texas Instruments | LMR51635YDDCR | 3.220 | 3.220 |
| U6 | 1 | LD39200PU33R | LD39200PU33R | STMicroelectronics | LD39200PU33R | 1.302 | 1.302 |
| U7 | 1 | SN74LVC1G125DBVR | SOT-23-5 | Texas Instruments | SN74LVC1G125DBVR | 0.604 | 0.604 |
| U8 | 1 | SN74LVC1G126DBVR | SOT-23-5 | Texas Instruments | SN74LVC1G126DBVR | 0.973 | 0.973 |
| U9 | 1 | MCP2518FD CAN-FD Controller | DFN-14 | Microchip Technology | MCP2518FDT-E/QBB | 2.278 | 2.278 |
| U10 | 1 | MCP2562 CAN Transceiver | SOIC-8 | Microchip Technology | MCP2562-E/SN | 1.775 | 1.775 |
| U11 | 1 | STM32G431KBU6 | QFN-32 | STMicroelectronics | STM32G431KBU6 | 5.110 | 5.110 |
| U12,U13,U14,U15 | 4 | DRV8256PRGER | VQFN-24 | Texas Instruments | DRV8256PRGER | 2.467 | 9.868 |
| Y1 | 1 | 40 MHz Crystal | 5032 SMD | SUZHOU HANGJING ELEC&TECH CO., LTD | 0153G2-40.000F18HPLJK | 2.800 | 2.800 |
| Full PCB Manufacturing | 1 | ~150 | ~150 | ||||
| ST-Link/V2 | 1 | https://www.prayogindia.in/product/st-link-v2-in-circuit-debugger-programmer-for-stm8-and-stm32 | ~15 | ~15 | |||
| Grand Total | ~165 |
Parts
180| Qty | Value | Footprint | References |
|---|---|---|---|
| 21 | TestPoint | TestPoint:TestPoint_Pad_D1.0mm | TP1, TP2, TP3, TP10, TP11, TP12, TP13, TP14, TP15, TP16, TP17, TP18, TP19, TP20, TP21, TP22 +5 |
| 16 | 100nF, 16V | Capacitor_SMD:C_0402_1005Metric | C2, C4, C7, C8, C9, C13, C16, C19, C20, C29, C32, C33, C37, C63, C64, C65 |
| 14 | 10kΩ, 5% | Resistor_SMD:R_0402_1005Metric | R8, R11, R12, R15, R17, R19, R20, R23, R24, R26, R27, R29, R30, R31 |
| 14 | 10µF, 50V | Capacitor_SMD:C_0805_2012Metric | C21, C22, C24, C25, C34, C35, C42, C43, C45, C46, C51, C52, C57, C58 |
| 13 | SS14 | Diode_SMD:D_SMA | D1, D2, D3, D5, D7, D8, D9, D10, D11, D12, D13, D14, D16 |
| 9 | 10µF, 16V | Capacitor_SMD:C_0603_1608Metric | C1, C3, C5, C6, C14, C15, C17, C18, C38 |
| 8 | 100nF, 50V | Capacitor_SMD:C_0402_1005Metric | C12, C23, C26, C36, C41, C47, C53, C59 |
| 4 | 220nF, 16V | Capacitor_SMD:C_0603_1608Metric | C40, C49, C55, C61 |
| 4 | 22nF, 50V | Capacitor_SMD:C_0402_1005Metric | C39, C48, C54, C60 |
| 4 | 330kΩ, 5% | Resistor_SMD:R_0402_1005Metric | R21, R22, R25, R28 |
| 4 | 470nF, 10V | Capacitor_SMD:C_0402_1005Metric | C44, C50, C56, C62 |
| 4 | 5.1 kΩ, 0.1% | Resistor_SMD:R_0402_1005Metric | R1, R2, R3, R4 |
| 4 | DRV8256PRGER | Package_DFN_QFN:VQFN-24-1EP_4x4mm_P0.5mm_EP2.5x2.5mm_ThermalVias | U12, U13, U14, U15 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_Pad | H1, H2, H3, H4 |
| 4 | Screw_Terminal_01x06 | TerminalBlock_CUI:TerminalBlock_CUI_TB007-508-06_1x06_P5.08mm_Horizontal | J10, J11, J12, J13 |
| 3 | LOGO | LOGO | G***, G***, G*** |
| 2 | 100Ω, 5% | Resistor_SMD:R_0402_1005Metric | R14, R16 |
| 2 | 10pF, 1% | Capacitor_SMD:C_0402_1005Metric | C30, C31 |
| 2 | 4.7µF, 50V | Capacitor_SMD:C_0805_2012Metric | C10, C11 |
| 2 | Conn_01x02_Socket | Connector_AMASS:AMASS_XT60-M_1x02_P7.20mm_Vertical | J3, J6 |
| 2 | Conn_01x02_Socket | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J4, J5 |
| 2 | Conn_01x06_Socket | Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical | J16, J17 |
| 2 | MMBT3904 | Package_TO_SOT_SMD:SOT-23 | Q1, Q2 |
| 2 | SW_Push | Button_Switch_SMD:SW_Push_1P1T_NO_CK_KMR2 | SW1, SW2 |
| 2 | USBLC6-2P6 | Package_TO_SOT_SMD:SOT-666 | U1, U2 |
| 2 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J1, J2 |
| 1 | 1 kΩ, 5% | Capacitor_SMD:C_0402_1005Metric | R5 |
| 1 | 100kΩ, 0.1% | Capacitor_SMD:C_0402_1005Metric | R9 |
| 1 | 100µF | Capacitor_SMD:CP_Elec_8x6.9 | C28 |
| 1 | 120Ω, 5% | Resistor_SMD:R_0805_2012Metric | R18 |
| 1 | 19.1 kΩ, 0.1% | Capacitor_SMD:C_0402_1005Metric | R10 |
| 1 | 20kΩ, 5% | Resistor_SMD:R_0402_1005Metric | R13 |
| 1 | 22.1 kΩ, 1% | Capacitor_SMD:C_0402_1005Metric | R6 |
| 1 | 3.3 µH | Inductor_SMD:L_Bourns_SRR1210A | L1 |
| 1 | 40 MHz | Crystal:Crystal_SMD_5032-2Pin_5.0x3.2mm | Y1 |
| 1 | 47.5 kΩ, 1% | Capacitor_SMD:C_0402_1005Metric | R7 |
| 1 | 470pF, 50V | Capacitor_SMD:C_0402_1005Metric | C27 |
| 1 | 5267-03A | Connector_Molex:Molex_SPOX_5267-03A_1x03_P2.50mm_Vertical | J7 |
| 1 | CP2102N-A02-GQFN24 | Package_DFN_QFN:QFN-24-1EP_4x4mm_P0.5mm_EP2.6x2.6mm_ThermalVias | U3 |
| 1 | Conn_01x03_Pin | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J18 |
| 1 | Conn_01x04_MountingPin | Connector_JST:JST_SH_SM04B-SRSS-TB_1x04-1MP_P1.00mm_Horizontal | J15 |
| 1 | Conn_01x06_Pin | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J9 |
| 1 | Conn_02x04_Odd_Even | Connector_PinHeader_2.54mm:PinHeader_2x04_P2.54mm_Vertical | J14 |
| 1 | D_TVS_Dual_AAC | Package_TO_SOT_SMD:SOT-23-3 | D6 |
| 1 | ESP32-S3-WROOM-1 | RF_Module:ESP32-S3-WROOM-1 | U4 |
| 1 | LD39200PU33R | URC:LD39200PU33R | U6 |
| 1 | LMR51635YDDCR | Package_TO_SOT_SMD:TSOT-23-6 | U5 |
| 1 | LOGO | URC:qwiic_6mm | G*** |
| 1 | MCP2518FD-xQBB | Package_DFN_QFN:DFN-14-1EP_3x4.5mm_P0.65mm_EP1.65x4.25mm_ThermalVias | U9 |
| 1 | MCP2562-E-SN | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U10 |
| 1 | MMBT3906LT1G | Package_TO_SOT_SMD:SOT-23 | Q3 |
| 1 | SN74LVC1G125DBV | Package_TO_SOT_SMD:SOT-23-5 | U7 |
| 1 | SN74LVC1G126DBV | Package_TO_SOT_SMD:SOT-23-5 | U8 |
| 1 | STM32G431KBU6 | Package_DFN_QFN:QFN-32-1EP_5x5mm_P0.5mm_EP3.45x3.45mm_ThermalVias | U11 |
| 1 | Screw_Terminal_01x05 | TerminalBlock_CUI:TerminalBlock_CUI_TB007-508-05_1x05_P5.08mm_Horizontal | J8 |
| 1 | SolderJumper_2_Bridged | Jumper:SolderJumper-2_P1.3mm_Bridged2Bar_RoundedPad1.0x1.5mm | JP1 |
Questions
How big is the URC PCB?
It measures 110 × 90 mm and has 4 copper layers, 1.6 mm thick.
What parts does the URC use?
180 parts, built around the STM32G431KBU6, ESP32-S3-WROOM-1-N16R8, MCP2562-E/SN and SN74LVC1G125DBVR-TP. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the URC KiCad files?
From the spikonado/URC repository on GitHub, at the commit this page was made from: the board is pcb_design/URC.kicad_pcb and its schematic pcb_design/URC.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the URC design in my own project?
Its repository publishes it under the CERN-OHL-W-2.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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